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Co-Simulation
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img
3rd_party_integrations.md
adv_agents.md
adv_benchmarking.md
adv_cpp_client.md
adv_digital_twin.md
adv_multigpu.md
adv_opendrive.md
adv_procedural_building_tool.md
adv_ptv.md
adv_recorder.md
adv_rendering_options.md
adv_rss.md
adv_sumo.md
adv_synchrony_timestep.md
adv_traffic_manager.md
bp_library.md
build_carla.md
build_docker.md
build_docker_unreal.md
build_faq.md
build_linux.md
build_linux_ue5.md
build_system.md
build_update.md
build_windows.md
build_windows_ue5.md
catalogue.md
catalogue_pedestrians.md
catalogue_props.md
catalogue_vehicles.md
cont_code_of_conduct.md
cont_coding_standard.md
cont_contribution_guidelines.md
cont_doc_standard.md
content_authoring_large_maps.md
core_actors.md
core_concepts.md
core_map.md
core_sensors.md
core_world.md
cpp_client_cmake_windows.md
custom_assets_tutorials.md
development_tutorials.md
download.md
ecosys_ansys.md
ecosys_ros.md
ecosys_simready.md
ecosys_synkrotron.md
ext_docs.md
extra.css
extra.js
foundations.md
index.md
large_map_import.md
large_map_overview.md
large_map_roadrunner.md
map_town01.md
map_town02.md
map_town03.md
map_town04.md
map_town05.md
map_town06.md
map_town07.md
map_town10.md
map_town11.md
map_town12.md
map_town13.md
map_town15.md
maps_tutorials.md
plugins_carlaviz.md
python_api.md
ref_cpp.md
ref_recorder_binary_file_format.md
ref_sensors.md
release_readme.md
requirements.txt
ros_documentation.md
start_introduction.md
start_quickstart.md
ts_traffic_simulation_overview.md
tuto_A_add_props.md
tuto_A_add_vehicle.md
tuto_A_create_standalone.md
tuto_A_material_customization.md
tuto_D_contribute_assets.md
tuto_D_create_semantic_tags.md
tuto_D_create_sensor.md
tuto_D_customize_vehicle_suspension.md
tuto_D_generate_colliders.md
tuto_D_make_release.md
tuto_G_add_friction_triggers.md
tuto_G_bounding_boxes.md
tuto_G_carsim_integration.md
tuto_G_chrono.md
tuto_G_control_vehicle_physics.md
tuto_G_control_walker_skeletons.md
tuto_G_getting_started.md
tuto_G_instance_segmentation_sensor.md
tuto_G_openstreetmap.md
tuto_G_pedestrian_bones.md
tuto_G_pygame.md
tuto_G_retrieve_data.md
tuto_G_rllib_integration.md
tuto_G_scenic.md
tuto_G_texture_streaming.md
tuto_G_traffic_manager.md
tuto_M_add_map_alternative.md
tuto_M_add_map_package.md
tuto_M_add_map_source.md
tuto_M_custom_add_tl.md
tuto_M_custom_buildings.md
tuto_M_custom_layers.md
tuto_M_custom_map_overview.md
tuto_M_custom_road_painter.md
tuto_M_custom_weather_landscape.md
tuto_M_generate_map.md
tuto_M_generate_pedestrian_navigation.md
tuto_M_manual_map_package.md
tuto_content_authoring_maps.md
tuto_content_authoring_vehicles.md
tuto_content_authoring_vehicles_materials.md
tuto_first_steps.md
tutorials.md
Examples/CppClient
Import
LibCarla
PythonAPI
Unreal/CarlaUE4
Util
osm-world-renderer
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C++ Reference

C++ client

The C++ client can be built with make on Linux and cmake in Windows. An C++ client example is provided in the repository in CARLA_ROOT/Examples/CppClient/main.cpp. This example shows how to connect the C++ client to the CARLA server and use the API for some simple tasks.

To build the example C++ client, open a terminal in the CARLA_ROOT/Examples/CppClient directory in the repository. Run make in this folder and then execute ./bin/cpp_client to run the example. The example will choose a random map from those available then load it. It will then spawn a vehicle and apply a control to the vehicle.

Please see the C++ client example for more details on this example script.

C++ documentation

We use Doxygen to generate the documentation of our C++ code:

Libcarla/Source
Unreal/CarlaUE4/Source
Unreal/CarlaUE4/Carla/Plugins

The generated documentation is available at this link http://carla.org/Doxygen/html/index.html

!!! note Document updates are done automatically by GitHub.

Create doxygen documentation

!!! important Doxygen is required to generate the documentation and Graphviz for the graph drawing toolkit.

1- Install doxygen and graphviz with the following command:

# linux
> sudo apt-get install doxygen graphviz

2- Once installed, go to the project root folder where the Doxyfile file is situated and run the following command:

> doxygen

It will start to build the documentation webpage.
The resulting webpage can be found at Doxygen/html/

3- Open index.html in a browser. Now you have your local cpp documentation!

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